To show the efficiency of the simulated environments, performance measurements are made. State of the art RL algorithms are utilized to solve the environments in simulation. The learned polices are then transferred to the dVRK [1]} running at 50Hz. The policy transfer is evaluated individually by replicating the simulated scene and completion of the surgical: tasks suction and debris removal. Both the training of the RL policies and dVRK ran on an Intel® Core™ i9-7940X Processor and NVIDIA's GeForce RTX 2080.
